CN104758100A - Control walking stick for exoskeleton - Google Patents
Control walking stick for exoskeleton Download PDFInfo
- Publication number
- CN104758100A CN104758100A CN201510206931.1A CN201510206931A CN104758100A CN 104758100 A CN104758100 A CN 104758100A CN 201510206931 A CN201510206931 A CN 201510206931A CN 104758100 A CN104758100 A CN 104758100A
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- China
- Prior art keywords
- handle
- ectoskeleton
- installing hole
- control
- crutch
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Abstract
The invention discloses a control walking stick for the exoskeleton. The control walking stick comprises an upper elbow fixing part (1), a grip part (2), a lower supporting rod (3) and a connecting part (4). A fixing part mounting hole (5) is formed in the upper portion of the connecting part (4). The upper elbow fixing part (1) is mounted in the fixing part mounting hole (5). A supporting rod mounting hole (6) is formed in the lower portion of the connecting part (4). The lower supporting rod (3) is mounted in the supporting rod mounting hole (6). A grip mounting hole (7) is formed in the middle of the connecting part (4). The grip part (2) is mounted in the grip mounting hole (7). The control walking stick for the exoskeleton has the advantages of being used for controlling the exoskeleton, and being simple in structure, convenient to use, reliable in control and capable of providing convenience for a patient in the using process.
Description
Technical field
The present invention relates to ectoskeleton, the control crutch of particularly a kind of ectoskeleton use.
Background technology
Under prior art condition, because brain electric control is immature, stable control exoskeleton robot is therefore wanted still to need to provide physical signalling by health.For the people with disability that lower limb can not be taken action, controlling ectoskeleton by hands is the reliable mode of most convenient.At present useful wrist-watch carries out controlling on the market, but needs two handss to control; But when using exoskeleton robot, most time needs both hands to hold with a firm grip crutch, if it is very inconvenient to want to operate watch simultaneously.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, the control crutch that the ectoskeleton providing a kind of structure simple, easy to use uses, this control crutch is for controlling ectoskeleton, and its structure is simple, easy to use, control is reliable, can provide convenience for the use of patient.
Object of the present invention is achieved through the following technical solutions: it comprises upper end elbow standing part, handle part, lower end support bar and coupling part, a standing part installing hole is provided with above coupling part, upper end elbow standing part is arranged in standing part installing hole, a support bar installing hole is provided with below coupling part, lower end support bar is arranged in support bar installing hole, a handle installing hole is provided with in the middle part of coupling part, handle part is arranged in handle installing hole, handle part is provided with heart rate and grip harvester, handle partial interior is provided with wireless collection plate and joystick, heart rate and grip harvester and joystick are electrically connected with wireless collection plate, joystick is arranged on the free end being arranged on handle part.
Described handle part is arranged in handle installing hole by rotating shaft.
Described coupling part is provided with sensor at handle beneath portions, and described sensor is electrically connected with wireless collection plate.
Described sensor is pressure transducer.
Be provided with battery in described coupling part, described battery is connected with heart rate and grip harvester, joystick, wireless collection plate and sensor electrical.
Described heart rate and grip harvester are arranged on handle partial outer face.
Described battery is poly-lithium battery.
The present invention has the following advantages:
1., by using this crutch to operate ectoskeleton, can avoid making troubles to patient owing to adopting traditional approach to use wrist-watch to control ectoskeleton, this crutch is easy to operate, control is flexible, can not increase extra heavy burden to user;
2. this crutch can detect the position of centre of gravity of user, and assists user to move according to the Data Control ectoskeleton detected, can prevent its forward lean or layback from causing and fall down or hurt waist, back skeleton;
3. this crutch can detect the health of user by heart rate and grip harvester, prompting can be made when user is uncomfortable, heart rate and grip harvester being arranged on handle partial outer face makes heart rate and grip harvester directly contact with the palm of user and to have enough large contact area, makes the data of detection accurate;
4. collecting by use wireless collection plate and send data, can avoiding causing the phenomenon being wound around or leaking electricity because using electric wire, the personal safety of protection user.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control crutch that a kind of ectoskeleton uses;
Fig. 2 is the control crutch partial sectional view that a kind of ectoskeleton uses.
In figure, 1-upper end elbow standing part, 2-handle part, 21-wireless collection plate, 22-heart rate and grip harvester, 23-joystick, 24-rotating shaft, 25-sensor, 26-battery, 3-lower end support bar, 4-coupling part, 5-standing part installing hole, 6-support bar installing hole, 7-handle installing hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, and protection scope of the present invention is not limited to the following stated:
As Fig. 1, shown in Fig. 2, the control crutch that a kind of ectoskeleton uses, it comprises upper end elbow standing part 1, handle part 2, lower end support bar 3 and coupling part 4, in the present embodiment, lower end support bar 3 can regulate its length to adapt to the demand of differing heights, a standing part installing hole 5 is provided with above coupling part 4, upper end elbow standing part 1 is arranged in standing part installing hole 5, a support bar installing hole 6 is provided with below coupling part 4, lower end support bar 3 is arranged in support bar installing hole 6, a handle installing hole 7 is provided with in the middle part of coupling part 4, handle part 2 is arranged in handle installing hole 7, in the present embodiment, described handle part 2 is arranged in handle installing hole 7 by rotating shaft 24, in the present embodiment, described coupling part 4 is provided with sensor 25 below handle part 2, described sensor 25 is pressure transducer.
In the present embodiment, described handle part 2 is provided with heart rate and grip harvester 22, in the present embodiment, described heart rate and grip harvester 22 are arranged on the side of handle part 2 outer surface near the user centre of the palm, handle part 2 inside is provided with wireless collection plate 21 and joystick 23, heart rate and grip harvester 22 and joystick 23 are electrically connected with wireless collection plate 21, and joystick 23 is arranged on the other end being arranged on one end in handle installing hole 7.
In the present embodiment, in described coupling part 4, battery 26 is installed, described battery 26 is poly-lithium battery, and described sensor 25 is electrically connected with wireless collection plate 21, and heart rate and grip harvester 22, joystick 23, wireless collection plate 21 and sensor 25 are electrically connected with battery 26.
Work process of the present invention is as follows: during use, by upper end elbow standing part 1, the arm of crutch and user is fixed up, user can grip handle part 2, press joystick 23 and can send signal to wireless collection plate 21, wireless collection plate 21 receives the signal that joystick 23 transmits and signal wireless is sent to computer on ectoskeleton again, walked by conputer controlled ectoskeleton, user can being avoided also will to control ectoskeleton walking by using wrist-watch when use crutch with this, being very easy to user operation.
The pressure size that handle part 2 is downward can be sensed by sensor 25, the pressure sensed is passed to wireless collection plate 21 by sensor 25, pass through wireless collection plate 21 again by signal transmission to the computer on ectoskeleton, judged the position of centre of gravity of user by computer according to signal, and make and controlling to prevent user from falling down or to come to harm accordingly.
Claims (7)
1. the control crutch of an ectoskeleton use, it is characterized in that: it comprises upper end elbow standing part (1), handle part (2), lower end support bar (3) and coupling part (4), top, coupling part (4) is provided with a standing part installing hole (5), upper end elbow standing part (1) is arranged in standing part installing hole (5), below, coupling part (4) is provided with a support bar installing hole (6), lower end support bar (3) is arranged in support bar installing hole (6), middle part, coupling part (4) is provided with a handle installing hole (7), handle part (2) is arranged in handle installing hole (7), handle part (2) is provided with heart rate and grip harvester (22), handle part (2) inside is provided with wireless collection plate (21) and joystick (23), heart rate and grip harvester (22) and joystick (23) are electrically connected with wireless collection plate (21), joystick (23) is arranged on the free end being arranged on handle part (2).
2. the control crutch of a kind of ectoskeleton use according to claim 1, is characterized in that: described handle part (2) is arranged in handle installing hole (7) by rotating shaft (24).
3. the control crutch of a kind of ectoskeleton use according to claim 1, is characterized in that: described coupling part (4) is provided with sensor (25) in handle part (2) below, and described sensor (25) is electrically connected with wireless collection plate (21).
4. the control crutch of a kind of ectoskeleton use according to claim 3, is characterized in that: described sensor (25) is pressure transducer.
5. the control crutch of a kind of ectoskeleton use according to claim 1, it is characterized in that: be provided with battery (26) in described coupling part (4), described battery (26) is electrically connected with heart rate and grip harvester (22), joystick (23), wireless collection plate (21) and sensor (25).
6. the control crutch of a kind of ectoskeleton use according to claim 1, is characterized in that: described heart rate and grip harvester (22) are arranged on handle part (2) outer surface.
7. the control crutch of a kind of ectoskeleton use according to claim 6, is characterized in that: described battery (26) is poly-lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206931.1A CN104758100B (en) | 2015-04-28 | 2015-04-28 | The control crutch that a kind of ectoskeleton is used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510206931.1A CN104758100B (en) | 2015-04-28 | 2015-04-28 | The control crutch that a kind of ectoskeleton is used |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104758100A true CN104758100A (en) | 2015-07-08 |
| CN104758100B CN104758100B (en) | 2017-06-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510206931.1A Active CN104758100B (en) | 2015-04-28 | 2015-04-28 | The control crutch that a kind of ectoskeleton is used |
Country Status (1)
| Country | Link |
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| CN (1) | CN104758100B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106038178A (en) * | 2016-07-06 | 2016-10-26 | 清华大学 | Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia |
| CN108348392A (en) * | 2015-10-16 | 2018-07-31 | 重新行走机器人技术有限公司 | Equipment, system and method for controlling ectoskeleton |
| CN109907943A (en) * | 2019-03-28 | 2019-06-21 | 昆明桑达科技有限公司 | A kind of lower limb exoskeleton intelligent crutch |
| CN110251372A (en) * | 2019-08-01 | 2019-09-20 | 哈尔滨工业大学 | Walk-aiding exoskeleton gait adjusting method based on intelligent crutch |
| US10624809B2 (en) | 2017-11-09 | 2020-04-21 | Free Bionics Taiwan Inc. | Exoskeleton robot and controlling method for exoskeleton robot |
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| JP2003284750A (en) * | 2002-03-27 | 2003-10-07 | Tama Tlo Kk | Walking assistive apparatus |
| EP1908499A1 (en) * | 2006-10-05 | 2008-04-09 | SenzAthlon GmbH | Sport sticks with sensor enhancements |
| US20100094188A1 (en) * | 2008-10-13 | 2010-04-15 | Amit Goffer | Locomotion assisting device and method |
| CN102499859A (en) * | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| CN103153356A (en) * | 2010-09-17 | 2013-06-12 | 艾克索仿生技术公司 | Human machine interface for human exoskeleton |
| US20130247946A1 (en) * | 2012-03-23 | 2013-09-26 | 3D Systems, Inc. | Crutch apparatus and method for designing and fabricating |
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2015
- 2015-04-28 CN CN201510206931.1A patent/CN104758100B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003284750A (en) * | 2002-03-27 | 2003-10-07 | Tama Tlo Kk | Walking assistive apparatus |
| EP1908499A1 (en) * | 2006-10-05 | 2008-04-09 | SenzAthlon GmbH | Sport sticks with sensor enhancements |
| US20100094188A1 (en) * | 2008-10-13 | 2010-04-15 | Amit Goffer | Locomotion assisting device and method |
| CN103153356A (en) * | 2010-09-17 | 2013-06-12 | 艾克索仿生技术公司 | Human machine interface for human exoskeleton |
| CN102499859A (en) * | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| US20130247946A1 (en) * | 2012-03-23 | 2013-09-26 | 3D Systems, Inc. | Crutch apparatus and method for designing and fabricating |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108348392A (en) * | 2015-10-16 | 2018-07-31 | 重新行走机器人技术有限公司 | Equipment, system and method for controlling ectoskeleton |
| CN106038178A (en) * | 2016-07-06 | 2016-10-26 | 清华大学 | Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia |
| CN106038178B (en) * | 2016-07-06 | 2019-08-16 | 清华大学 | A kind of vola in-wheel driving alternating walking exoskeleton device for paraplegia rehabilitation training |
| US10624809B2 (en) | 2017-11-09 | 2020-04-21 | Free Bionics Taiwan Inc. | Exoskeleton robot and controlling method for exoskeleton robot |
| CN109907943A (en) * | 2019-03-28 | 2019-06-21 | 昆明桑达科技有限公司 | A kind of lower limb exoskeleton intelligent crutch |
| CN110251372A (en) * | 2019-08-01 | 2019-09-20 | 哈尔滨工业大学 | Walk-aiding exoskeleton gait adjusting method based on intelligent crutch |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104758100B (en) | 2017-06-27 |
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Effective date of registration: 20170915 Address after: 610000 No. 888, south section of Tianfu Road, Tianfu New District, Sichuan, Chengdu Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170915 Address after: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 610041 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |
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